1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and / or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #include "test_precomp.hpp" 44 #include "opencv2/core/affine.hpp" 45 #include "opencv2/calib3d.hpp" 46 #include <iostream> 47 48 TEST(Calib3d_Affine3f, accuracy) 49 { 50 cv::Vec3d rvec(0.2, 0.5, 0.3); 51 cv::Affine3d affine(rvec); 52 53 cv::Mat expected; 54 cv::Rodrigues(rvec, expected); 55 56 57 ASSERT_EQ(0, cvtest::norm(cv::Mat(affine.matrix, false).colRange(0, 3).rowRange(0, 3) != expected, cv::NORM_L2)); 58 ASSERT_EQ(0, cvtest::norm(cv::Mat(affine.linear()) != expected, cv::NORM_L2)); 59 60 61 cv::Matx33d R = cv::Matx33d::eye(); 62 63 double angle = 50; 64 R.val[0] = R.val[4] = std::cos(CV_PI*angle/180.0); 65 R.val[3] = std::sin(CV_PI*angle/180.0); 66 R.val[1] = -R.val[3]; 67 68 69 cv::Affine3d affine1(cv::Mat(cv::Vec3d(0.2, 0.5, 0.3)).reshape(1, 1), cv::Vec3d(4, 5, 6)); 70 cv::Affine3d affine2(R, cv::Vec3d(1, 1, 0.4)); 71 72 cv::Affine3d result = affine1.inv() * affine2; 73 74 expected = cv::Mat(affine1.matrix.inv(cv::DECOMP_SVD)) * cv::Mat(affine2.matrix, false); 75 76 77 cv::Mat diff; 78 cv::absdiff(expected, result.matrix, diff); 79 80 ASSERT_LT(cvtest::norm(diff, cv::NORM_INF), 1e-15); 81 } 82 83 TEST(Calib3d_Affine3f, accuracy_rvec) 84 { 85 cv::RNG rng; 86 typedef float T; 87 88 cv::Affine3<T>::Vec3 w; 89 cv::Affine3<T>::Mat3 u, vt, R; 90 91 for(int i = 0; i < 100; ++i) 92 { 93 rng.fill(R, cv::RNG::UNIFORM, -10, 10, true); 94 cv::SVD::compute(R, w, u, vt, cv::SVD::FULL_UV + cv::SVD::MODIFY_A); 95 R = u * vt; 96 97 //double s = (double)cv::getTickCount(); 98 cv::Affine3<T>::Vec3 va = cv::Affine3<T>(R).rvec(); 99 //std::cout << "M:" <<(cv::getTickCount() - s)*1000/cv::getTickFrequency() << std::endl; 100 101 cv::Affine3<T>::Vec3 vo; 102 //s = (double)cv::getTickCount(); 103 cv::Rodrigues(R, vo); 104 //std::cout << "O:" <<(cv::getTickCount() - s)*1000/cv::getTickFrequency() << std::endl; 105 106 ASSERT_LT(cvtest::norm(va, vo, cv::NORM_L2), 1e-9); 107 } 108 } 109
